cbb
02572df688
移除调试打印语句，改进Flash读写稳定性。 使用类型别名统一数据访问，增强代码可读性。 修正CAN通信中角度保存逻辑，确保正确写入实时角度值。 完善错误处理机制，增加对齐检查和状态反馈。 调整EEPROM起始地址以避免潜在冲突。
321 lines
8.5 KiB
C++
321 lines
8.5 KiB
C++
#include "flash.h"
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#include "ang_sensor.h"
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#include "core_cmFunc.h"
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#include "gd32c10x_fmc.h"
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#include <Can.h>
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#include <cstdio>
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#include <stdint.h>
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FlashEEPROM flashEEP = FlashEEPROM();
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extern angle_sensor KTH7823;
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extern CAN_transmiter CAN0_transmiter;
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constexpr u8 SIZE_U32 = sizeof(uint32_t);
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// FlashEEPROM类实现
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FlashEEPROM::FlashEEPROM() {
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// 构造函数可以为空，或者做一些初始化工作
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}
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/**
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* @brief 初始化Flash EEPROM模拟
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* @param None
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* @retval None
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*/
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u8 FlashEEPROM::init() {
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// 读取保存的参数
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u16 angle;
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// 尝试从Flash读取参数，如果不存在则使用默认值
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if (read(ADDR_ANGLE_DATA, &angle) != FLASH_EEPROM_OK) {
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angle = 0; // 默认值
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std::printf("角度初始化为: %d\r\n", angle);
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} else {
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std::printf("从Flash读取到角度数: %d\r\n", angle);
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}
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KTH7823.angle_set((float)angle);
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return 0;
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}
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/**
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* @brief 从Flash EEPROM读取数据
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* @param virtualAddr: 虚拟地址
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* @param data: 指向存储读取数据的指针
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* @retval FlashEepromStatus: 操作状态
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*/
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FlashEepromStatus FlashEEPROM::read(u16 virtualAddr, u16 *data) const {
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// 检查参数有效性
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if (data == nullptr || virtualAddr > 0xFFFE) {
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return FLASH_EEPROM_INVALID_ADDR;
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}
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// 从Flash末尾开始向前搜索，找到最新的数据
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for (u32 address = EEPROM_END_ADDRESS - SIZE_U32;
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address >= EEPROM_START_ADDRESS; address -= SIZE_U32) {
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u32 data_word = *((u32 *)address);
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// 检查是否是有效数据（非擦除状态）
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if (data_word != 0xFFFFFFFF) {
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u16 addr = (u16)(data_word & 0xFFFF);
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// 找到匹配的虚拟地址
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if (addr == virtualAddr) {
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*data = (u16)((data_word >> 16) & 0xFFFF);
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return FLASH_EEPROM_OK;
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}
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}
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}
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// 未找到指定虚拟地址的数据
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return FLASH_EEPROM_NOT_FOUND;
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}
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/**
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* @brief 向Flash EEPROM写入数据
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* @param virtualAddr: 虚拟地址
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* @param data: 要写入的数据
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* @retval FlashEepromStatus: 操作状态
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*/
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FlashEepromStatus FlashEEPROM::write(u16 virtualAddr, u16 data) {
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// 参数检查
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if (virtualAddr > 0xFFFE) {
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return FLASH_EEPROM_INVALID_ADDR;
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}
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// 查找下一个可写入的位置
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u32 next_address = EEPROM_START_ADDRESS;
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// 遍历Flash页面寻找下一个可写入位置
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for (u32 address = EEPROM_START_ADDRESS; address < EEPROM_END_ADDRESS;
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address += SIZE_U32) {
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// 安全读取Flash数据
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volatile u32 *flash_ptr = (volatile u32 *)address;
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u32 data_word = *flash_ptr;
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// 找到空位置
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if (data_word == 0xFFFFFFFF) {
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next_address = address;
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break;
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}
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// 更新下一个可能的写入位置（如果需要格式化）
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next_address = address + SIZE_U32;
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}
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// 如果有足够空间，直接写入
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if (next_address < EEPROM_END_ADDRESS) {
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u32 data_word = ((u32)data << 16) | (u32)virtualAddr;
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// 使用GD32库函数进行安全编程
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fmc_unlock();
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fmc_flag_clear(FMC_FLAG_PGERR | FMC_FLAG_PGAERR | FMC_FLAG_WPERR);
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// 确保使用对齐地址
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fmc_state_enum fmc_status = fmc_word_program(next_address, data_word);
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fmc_lock();
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if (fmc_status != FMC_READY) {
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return FLASH_EEPROM_WRITE_ERROR;
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}
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return FLASH_EEPROM_OK;
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} else {
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// 空间不足，需要格式化页面
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FlashEepromStatus status = format();
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if (status != FLASH_EEPROM_OK) {
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return status;
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}
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// 格式化后在页面开头写入数据
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u32 new_data_word = ((u32)data << 16) | (virtualAddr & 0xFFFF);
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fmc_state_enum fmc_status =
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fmc_word_program(EEPROM_START_ADDRESS, new_data_word);
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if (fmc_status != FMC_READY) {
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return FLASH_EEPROM_WRITE_ERROR;
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}
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return FLASH_EEPROM_OK;
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}
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}
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/**
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* @brief 格式化Flash EEPROM页面
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* @param None
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* @retval FlashEepromStatus: 操作状态
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*/
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FlashEepromStatus FlashEEPROM::format() {
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fmc_state_enum fmc_status;
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// 创建临时缓冲区存储唯一地址的最新数据
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u32 valid_entries[EEPROM_MAX_SIZE / SIZE_U32];
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u16 valid_count = 0;
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// 收集有效的数据项（去重，保留最新的）
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for (u32 address = EEPROM_START_ADDRESS; address < EEPROM_END_ADDRESS;
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address += SIZE_U32) {
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u32 data_word = *((u32 *)address);
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// 检查是否是有效数据项
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if (data_word != 0xFFFFFFFF) {
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u16 addr = (u16)(data_word & 0xFFFF);
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u16 value = (u16)((data_word >> 16) & 0xFFFF);
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// 查找是否已经有相同虚拟地址的数据项
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uint8_t found = 0;
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for (u16 i = 0; i < valid_count; i++) {
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u16 existing_addr = (u16)(valid_entries[i] & 0xFFFF);
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if (existing_addr == addr) {
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// 更新为最新的数据
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valid_entries[i] = ((u32)value << 16) | addr;
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found = 1;
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break;
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}
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}
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// 如果是新的虚拟地址，添加到有效数据列表
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if (!found && valid_count < (EEPROM_MAX_SIZE / SIZE_U32)) {
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valid_entries[valid_count] = ((u32)value << 16) | addr;
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valid_count++;
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}
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}
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}
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// 擦除整个页面
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fmc_status = fmc_page_erase(EEPROM_START_ADDRESS);
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if (fmc_status != FMC_READY) {
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return FLASH_EEPROM_ERASE_ERROR;
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}
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// 重新写入有效的数据项
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for (u16 i = 0; i < valid_count; i++) {
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fmc_status = fmc_word_program(EEPROM_START_ADDRESS + i * SIZE_U32,
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valid_entries[i]);
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if (fmc_status != FMC_READY) {
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return FLASH_EEPROM_WRITE_ERROR;
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}
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}
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return FLASH_EEPROM_OK;
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}
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/**
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* @brief 更新参数并保存到Flash
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* @param kp 新的KP值
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* @param ki 新的KI值
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* @param kd 新的KD值
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*/
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void FlashEEPROM::update_pid_parameters(u16 kp, u16 ki, u16 kd) {
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write(ADDR_MOTOR_KP, kp);
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write(ADDR_MOTOR_KI, ki);
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write(ADDR_MOTOR_KD, kd);
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}
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/**
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* @brief 更新系统配置并保存到Flash
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* @param config 新的系统配置值
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*/
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void FlashEEPROM::update_system_config(u16 config) {
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write(ADDR_SYSTEM_CONFIG, config);
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}
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/**
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* @brief 保存角度数据到Flash
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* @param angle 角度数据
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* @return FlashEepromStatus: 操作状态
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*/
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FlashEepromStatus FlashEEPROM::save_angle(u16 angle, bool saved) {
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u16 angle_read = 0;
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FlashEepromStatus status = FLASH_EEPROM_ERROR;
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// 读取保存的参数
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if (!angle_saved) {
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// 写入参数
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status = write(ADDR_ANGLE_DATA, angle);
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if (read(ADDR_ANGLE_DATA, &angle_read) != FLASH_EEPROM_OK)
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angle_read = 0; // 读不到角度值，存储失败
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if (angle_read != angle) {
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status = FLASH_EEPROM_WRITE_ERROR;
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CAN0_transmiter.EEPROMStatus = 1; // 设置EEPROM错误状态
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} else {
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angle_saved = saved; // 标记已保存过
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CAN0_transmiter.EEPROMStatus = 0; // 设置EEPROM状态
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}
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}
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return status;
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}
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/**
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* @brief 读取角度数据从Flash
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* @return float: 角度数据
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*/
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float FlashEEPROM::read_angle() {
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u16 angle = 0;
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if (read(ADDR_ANGLE_DATA, &angle) != FLASH_EEPROM_OK) {
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angle = 0;
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}
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return (float)angle; // 默认返回0度
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}
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/**
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* @brief 增加错误计数并保存到Flash
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*/
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void FlashEEPROM::increment_error_count(void) {
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u16 error_count = 0;
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// 读取当前错误计数
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FlashEepromStatus read_status = read(ADDR_ERROR_COUNT, &error_count);
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if (read_status == FLASH_EEPROM_OK ||
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read_status == FLASH_EEPROM_NOT_FOUND) {
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// 增加错误计数（如果是NOT_FOUND，则error_count已经是0）
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error_count++;
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// 保存更新后的错误计数
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write(ADDR_ERROR_COUNT, error_count);
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}
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}
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/**
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* @brief 示例主函数 - 展示Flash EEPROM的使用方法
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*/
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void flash_eeprom_example_main(void) {
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std::printf("\r\n=== Flash EEPROM 使用示例 ===\r\n");
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// 初始化Flash EEPROM
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flashEEP.init();
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// 模拟参数更新
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std::printf("\r\n--- 更新PID参数 ---\r\n");
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flashEEP.update_pid_parameters(120, 80, 30);
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// 模拟系统配置更新
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std::printf("\r\n--- 更新系统配置 ---\r\n");
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flashEEP.update_system_config(0x03);
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// 模拟错误发生
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std::printf("\r\n--- 模拟错误计数增加 ---\r\n");
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flashEEP.increment_error_count();
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flashEEP.increment_error_count();
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// 再次读取参数验证保存是否成功
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std::printf("\r\n--- 验证保存的数据 ---\r\n");
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u16 kp_value, ki_value, kd_value;
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u16 system_config;
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u16 error_count;
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// if (flashEEP.read(ADDR_MOTOR_KP, &kp_value) == FLASH_EEPROM_OK) {
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// std::printf("当前KP值: %d\r\n", kp_value);
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// }
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// if (flashEEP.read(ADDR_MOTOR_KI, &ki_value) == FLASH_EEPROM_OK) {
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// std::printf("当前KI值: %d\r\n", ki_value);
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// }
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// if (flashEEP.read(ADDR_MOTOR_KD, &kd_value) == FLASH_EEPROM_OK) {
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// std::printf("当前KD值: %d\r\n", kd_value);
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// }
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// if (flashEEP.read(ADDR_SYSTEM_CONFIG, &system_config) == FLASH_EEPROM_OK)
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// { std::printf("当前系统配置: 0x%02X\r\n", system_config);
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// }
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// if (flashEEP.read(ADDR_ERROR_COUNT, &error_count) == FLASH_EEPROM_OK) {
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// std::printf("当前错误计数: %d\r\n", error_count);
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// }
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std::printf("\r\n=== 示例结束 ===\r\n");
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} |